CN111947935B - Automatic driving device, vehicle testing system and identification method - Google Patents
Automatic driving device, vehicle testing system and identification method Download PDFInfo
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- CN111947935B CN111947935B CN202010381749.0A CN202010381749A CN111947935B CN 111947935 B CN111947935 B CN 111947935B CN 202010381749 A CN202010381749 A CN 202010381749A CN 111947935 B CN111947935 B CN 111947935B
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- 238000012360 testing method Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000004868 gas analysis Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 3
- 238000011056 performance test Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/90—Details or parts not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/24—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/90—Details or parts not otherwise provided for
- B60N2002/905—Details or parts not otherwise provided for the head-rest or seat used as an anchorage point, for an object not covered by groups in B60N, e.g. for a canvas
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Arrangement Or Mounting Of Control Devices For Change-Speed Gearing (AREA)
- Mechanical Control Devices (AREA)
- Steering Controls (AREA)
Abstract
The invention provides an automatic driving device, a vehicle testing system and an identification method. An automatic driving apparatus for automatically driving a vehicle or a part thereof, that is, a subject, by using various actuators includes: a plurality of connectors coupled to the actuator; and a control device for controlling the operation of the actuator connected to the connector, wherein if the actuator is connected to any one of the connectors, the control device identifies the type of the connected actuator.
Description
Technical Field
The present invention relates to an automatic driving apparatus for automatically driving a vehicle or a part thereof, that is, a subject.
Background
When testing the performance of a vehicle using a chassis dynamometer, an autopilot device such as an autopilot robot is mounted on a driver's seat, and the vehicle is driven (patent document 1). In such an automatic driving apparatus, a control device mounted on a driver's seat is connected to an actuator for pedal operation and an actuator for shift operation, and the control device can operate the control device to perform an automatic driving operation of the vehicle.
Prior art literature
Patent document 1: japanese patent laid-open publication No. 2003-149987
In recent years, in the automatic driving of a vehicle using the above-described automatic driving apparatus, not only pedal operation and shift operation but also operations of various switches such as a start switch and an air conditioner switch are performed using various actuators. In the conventional automatic driving device, an actuator for performing various operations corresponds to a connector provided in a control device connected thereto, and for example, the actuator for performing an operation of a start switch needs to be accurately connected to the connector for the operation of the start switch provided in the control device. Therefore, when the operator performs a narrow place operation and feels up the connection actuator, the operator may connect the connection actuator by mistake. Further, there is a problem that careful work is performed to avoid erroneous connection, and the connection of the actuator takes time, which results in a decrease in workability.
Disclosure of Invention
The invention provides an automatic driving device which is connected with various actuators, can prevent the error connection of the actuators and can improve the operability.
That is, an automatic driving apparatus according to the present invention for automatically driving a vehicle or a part thereof, that is, a subject, with a plurality of actuators, the automatic driving apparatus comprising: a plurality of connectors coupled to the actuator; and a control device for controlling the operation of the actuator connected to the connector, wherein if the actuator is connected to any one of the connectors, the control device identifies the type of the connected actuator.
According to this configuration, when the actuator is connected to any one of the connectors, the type of the connected actuator is recognized, and therefore, the actuator can function regardless of the connector to which the actuator is connected. That is, since the actuators and the connectors are not in one-to-one correspondence, but the plurality of connectors are in correspondence with the plurality of types of actuators, erroneous connection caused by the actuators being connected to connectors that are not in correspondence can be prevented. Further, the operator can connect the actuator to any one of the connectors, so that the connection work is easy and the workability can be improved.
As a specific example of the automatic driving device, the plurality of actuators each have an identifier corresponding to a type, and the control device includes: a storage unit that stores identification information that associates the identifier with the type of the actuator; and an identification unit that reads an identifier of an actuator connected to the connector, and refers to the identifier and the identification information, thereby identifying the type of the connected actuator.
As a mode for remarkably exhibiting the effects of the present invention, the plurality of connectors are all of the same shape.
Preferably, the storage unit stores at least one piece of identification information for an operation of starting, an operation of a push-button shift, an operation of a paddle shift, and an operation of an air conditioner, and more preferably stores 2 or more pieces of identification information.
Preferably, the plurality of connectors are positioned on a front surface of the control device when the automatic driving device is disposed on a driver's seat of the subject.
According to this configuration, since the plurality of connectors are arranged on the front surface of the control device provided on the seat, the operator can easily connect the actuator and workability is further improved as compared with a device in which the connectors are provided on the rear surface of the control device.
Further, the vehicle test system of the present invention is characterized by comprising: the above-described automatic driving apparatus; a dynamometer for giving a load to the subject automatically driven by the automatic driving device; and an exhaust gas analysis device that analyzes exhaust gas discharged from the subject.
The method for identifying an actuator according to the present invention is a method for identifying a type of an actuator connected to a connector in an automatic driving device that includes a plurality of connectors connected to a plurality of types of actuators, and that automatically drives a vehicle or a part thereof, that is, a subject, using the actuator connected to the connectors, and is characterized in that the type of the connected actuator is identified by connecting the actuator to any one of the plurality of connectors.
According to the vehicle test system and the method for identifying an actuator of the present invention, the same operational effects as those of the automatic driving apparatus of the present invention can be exhibited.
According to the present invention having the above-described configuration, it is possible to provide an automatic driving device capable of preventing erroneous connection of actuators and improving workability in a device for connecting a plurality of actuators.
Drawings
Fig. 1 is a plan view schematically showing the overall structure of a vehicle test system in the present embodiment.
Fig. 2 is a perspective view schematically showing the structure of the automatic driving device according to the embodiment.
Fig. 3 is a functional block diagram of the control device in the same embodiment.
Fig. 4 is a diagram showing an example of correspondence between an identifier included in identification information stored in the storage unit according to the embodiment and a type of a general-purpose actuator.
Description of the reference numerals
1. Automatic driving device
11. Control device
111. Front surface
123. General actuating mechanism
133. Connector for general actuator
Detailed Description
Hereinafter, an automatic driving unit 100 including an automatic driving device 1 according to an embodiment of the present invention will be described with reference to the drawings. In the following, a specific embodiment of the subject will be described as a whole vehicle.
The autopilot unit 100 of the present embodiment is used for, for example, a vehicle performance test using a chassis dynamometer, and is installed in a vehicle to automatically drive the vehicle. As shown in fig. 1 and 2, the autopilot unit 100 includes an autopilot device 1 that autopilot the vehicle at a seat FS (a specific driver's seat), and a holding device 2 that holds the autopilot device 1 at the driver's seat FS. In the following description, the front-rear, left-right, up-down, and down directions of the subject are defined with reference to the front-rear direction of the subject in a state where the automatic driving unit 100 is placed at a normal position (a position suitable for performance test) in the driver's seat FS.
The automatic driving device 1 performs automatic driving of the vehicle by performing a depression operation of an accelerator pedal, a brake pedal, and a clutch pedal, a position switching operation of a shift lever, a switching operation of various switches provided in the vehicle, and the like on the driver's seat FS. The specific automatic driving device 1 includes a plurality of types of actuators 12 that perform various operations, and a control device 11 that controls the operation of the actuators 12.
The actuator 12 receives control signals from the control device 11 and performs various operations. Specifically, the actuator 12 is electrically connected to the control device 11 via a cable, and receives a control signal from the control device 11 and operates in response thereto.
The automatic driving device 1 of the present embodiment includes, as the actuators 12, a plurality of (here, 3) pedal actuators 121 for performing pedal operations (accelerator, brake, and clutch) and a shift actuator 122 for performing position switching operations of a shift lever (floor shift lever or column shift lever). The shift actuator 122 is configured such that the fingertip 122A in contact with the shift lever can move in the front-rear direction (X axis), the left-right direction (Y axis), and the up-down direction (Z axis).
The control device 11 is a so-called computer including an analog circuit including a buffer, an amplifier, and the like, a digital circuit including a CPU, a memory, a DSP, and the like, and an a/D converter or the like provided therebetween. The CPU and its peripheral devices cooperate with each other according to a predetermined program stored in the memory, and function at least as a control unit 113 for controlling the operation of each actuator 12, as shown in fig. 3.
The control unit 113 transmits control signals corresponding to the respective actuators 12 according to the types of the connected actuators 12.
The control device 11 is box-shaped in its structural appearance. The control device 11 is placed so that its bottom surface and back surface are fitted into predetermined positions on the holding device 2, and thereby held on the holding device 2.
The automatic driving device 1 further includes a plurality of connectors 13 electrically connected to cables of the actuator 12 on a front surface 111 of the control device 11 facing the front side of the vehicle in a state of being held by the holding device 2. The automatic driving device 1 includes, as the connector 13, a pedal actuator connector 131 connected to the pedal actuator 121 and a shift actuator connector 132 connected to the shift actuator 122. In the present embodiment, these various connectors 13 are provided on the front surface 111 of the control device 11.
The 3 pedal actuator connectors 131 are provided so as to correspond to the 3 pedal actuators 121 individually. The 3 shift actuator connectors 132 are provided so as to correspond to the 3 axes of the X axis, the Y axis, and the Z axis of the shift actuator 122, respectively.
The holding device 2 is fixedly provided in a driver's seat FS of the vehicle, and the automatic driving device 1 is mounted on the holding device 2 and held.
As shown in fig. 1 and 2, the holding device 2 includes: a mounting unit 21 that is mounted on the seat unit SD of the driver's seat FS and mounts the automatic driving device 1 thereon; a back 22 that contacts a backrest BR of the driver's seat FS; and a connecting portion 23 connecting the mounting portion 21 and the back portion 22. The mounting portion 21, the back portion 22, and the connecting portion 23 are each substantially plate-shaped members, and the mounting portion 21 and the back portion 22 are connected to each other by the connecting portion 23 to have a substantially L shape so as to contact the seat portion SD and the backrest BR of the driver seat FS, respectively.
The mounting portion 21 has a mounting surface 211 on which the autopilot device 1 is mounted, and a bottom surface 212 formed on the rear surface side of the mounting surface 211 and in contact with the seat surface SS of the seat portion SD. Here, the bottom surface 212 is planar and can be in surface contact with the seat surface SS. The mounting surface 211 is formed so that the bottom surface of the mounted automatic driving device 1 is fitted thereto. A plurality of pedal actuator fixing portions 25 are provided near the front end of the mounting portion 21, and are used to mount and fix the pedal actuator 121.
The back 22 has a front surface 221 facing the front side of the vehicle in a state of being mounted on the seat FS, and a back surface 222 formed on the back surface side of the front surface 221 and contacting the back surface BS of the backrest BR. The back surface 222 is planar and can be in surface contact with the back surface BS. The front surface 221 is formed so that the rear surface of the mounted automatic driving device 1 is fitted thereto.
The connecting portion 23 is provided with a connecting portion 231, and a fixing mechanism 24 (specifically, a belt) for fixing the holding device 2 to the driver's seat FS is connected to the connecting portion 231. The holding device 2 is fixed to the driver's seat FS by applying tension by pulling the belt, which is the fixing mechanism 24 connected to the connecting portion 231, toward the obliquely lower rear of the driver's seat FS.
However, the automatic driving device 1 of the present embodiment includes a plurality of types of general-purpose actuators 123 having a predetermined function for performing operations of various switches of the vehicle, and a plurality of general-purpose actuator connectors 133 connected to the plurality of types of general-purpose actuators 123. When the universal actuator 123 is connected to any one of the plurality of universal actuator connectors 133, the control device 11 automatically recognizes the type of the connected universal actuator 123.
In the present embodiment, in order to automatically identify the type of the connected universal actuator 123, individual identifiers (here, nos. 1 to 9) corresponding to the various types are provided for each of the various types of universal actuators 123, and the control device 11 is provided with the functions of the storage unit 114 and the identification unit 115 as shown in fig. 3.
The storage unit 114 is set in a predetermined area of the memory, and stores identification information associating the identifier with the type of the general-purpose actuator 123. The storage unit 114 stores identification information for identifying the type of at least one general-purpose actuator 123 for the start-up operation, the button shift operation, the paddle shift operation, and the air conditioner operation. As shown in fig. 4, the storage unit 114 stores identification information for identifying the type of the general-purpose actuator 123, such as an operation for push-start, an operation for rotary-start, an operation for push-button shift (P-switch), an operation for push-button shift (N-switch), an operation for push-button shift (D-switch), an operation for push-button shift (acceleration), an operation for paddle shift (deceleration), an operation for air-conditioning (on), and an operation for air-conditioning (off). The storage unit 114 is not limited to the one shown in fig. 4, and may store identification information for identifying the type of the general-purpose actuator 123, such as for example, for operating a push-button shift (R switch), for operating a push-button shift (deceleration), for operating a paddle shift (acceleration), and for operating an ON/OFF switch for traction control. The identification information stored in the storage unit 114 may be, but is not limited to, identification information identifying the type of one general-purpose actuator 123, or identification information identifying the types of a plurality of actuators 123.
The identification unit 115 identifies the type of the universal actuator 123 connected to the universal actuator connector 133. The specific identification unit 115 reads the identifier of the general-purpose actuator 123 connected to the general-purpose actuator connector 133, and refers to the read identifier and the identification information stored in the storage unit 114, thereby identifying the type of the connected general-purpose actuator 123. Then, the recognition result indicating the type of the recognized general-purpose actuator 123 is transmitted to the control unit 113.
Here, the control device 11 includes a single actuator for operating the various general-purpose actuators 123. The connected universal actuator 123 is operated by a driver corresponding to the type of universal actuator 123 identified by the identification unit 115.
The plurality of (specifically, 3 columns×2 layers of 6) general-purpose actuator connectors 133 included in the automatic driving device 1 according to the present embodiment all have the same connection structure (i.e., the same shape). The plurality of general-purpose actuators 123 have connection terminals having the same connection structure, and any one of the plurality of general-purpose actuator connectors 133 can be connected.
Here, a plurality of the universal-actuator connectors 133 may be provided centrally on the front surface 111 of the control device 11. That is, the connectors 13 connected to the various actuators, including the pedal actuator connector 131, the shift actuator connector 132, and the general actuator connector 133, are all provided on the front surface 111 of the control device 11. The front surface 111 of the control device 11 according to the present embodiment is formed to be inclined obliquely upward and forward in a state where the control device 11 is held by the holding device 2 and is provided on the driver's seat FS.
As shown in fig. 2, the shift actuator 122 of the automatic driving device 1 according to the present embodiment may be provided on the back 22 of the holding device 2. More specifically, the upper end portion of the back 22 of the holding device 2 (above the upper end portion of the control device 11) is provided with a shift actuator fixing portion 26 for mounting and fixing the shift actuator 122. The shift actuator 122 is mounted on the shift actuator fixing portion 26, and in this state, the fingertip 122A is movable along the X-axis, the Y-axis, and the Z-axis. In order to operate the shift lever beside the steering wheel, the shift actuator 122 needs to be mounted at a certain height, and when it is mounted on the control device 11, a support member for supporting the shift actuator 122 needs to be additionally mounted on the control device 11, so that the weight of the entire automatic driving device 1 increases. However, by attaching the shift actuator 122 to the back 22 of the original holding device 2, it is not necessary to attach a support member to the control device 11, and the weight of the entire device can be reduced.
According to the automatic driving unit 100 of the present embodiment having the above-described configuration, when the universal actuator 123 is connected to any one of the plurality of universal-actuator connectors 133, the control device 11 automatically recognizes the type of the connected universal actuator 123, and therefore, the universal actuator 123 can be made to function regardless of which universal-actuator connector 133 is connected to. That is, the general-purpose actuator 123 and the general-purpose actuator connector 133 are not in one-to-one correspondence, but the plurality of general-purpose actuator connectors 133 correspond to the plurality of types of general-purpose actuators 123, so that erroneous connection caused by connecting the general-purpose actuator 123 to the non-corresponding general-purpose actuator connector 133 can be prevented. Further, since the operator can connect the universal actuator 123 to any one of the plurality of universal actuator connectors 133, the connection work is easy, and the workability can be improved. Further, although the positions of the various switches to be operated by the universal actuator 123 are different depending on the vehicle type, the universal actuator 123 can be connected to the universal actuator connector 133 close to the operated switch since the universal actuator 123 can function properly regardless of whether it is connected to the plurality of universal actuator connectors 133. Therefore, the wiring process is simplified, and workability is improved.
The present invention is not limited to the above embodiments.
In the above embodiment, the identifier is provided separately for each of the plurality of types of general-purpose actuators 123, and the identification unit 115 reads the identifier to identify the type of the general-purpose actuator 123, but the present invention is not limited thereto. According to another embodiment, the types of the universal actuators 123 connected to the universal actuator connector 133 can be identified by making the contact structures of the connection terminals of the plurality of types of universal actuators 123 different.
In the above embodiment, all the connectors 13 are arranged on the front surface 111 of the control device 11, but the present invention is not limited thereto, and a part or all of the connectors may be arranged on other positions such as the back surface and the upper surface. Furthermore, it may be provided not on the control device 11 but on a separate control device connected to the control device 11.
In the above embodiment, the front surface 111 of the control device 11 is inclined so as to be inclined obliquely upward and forward, but is not limited thereto. The front surface 111 of the control device 11 may be formed toward the front in another embodiment.
In the above embodiment, some or all of the functions of the control unit 113, the storage unit 114, and the identification unit 115 may be allocated to a separate control device connected to the control device 11.
The specific embodiment of the subject in the above embodiment has been described by taking the whole vehicle as an example, but is not limited thereto. In another embodiment, the object may be a part of the whole vehicle.
The autopilot unit 100 in the above embodiment is used for vehicle performance testing using a chassis dynamometer, but is not limited thereto. For example, the present invention can be applied to a vehicle performance test of a dynamometer using various drive systems such as an engine dynamometer and a brake dynamometer, which apply a load to a whole vehicle or a part of a subject.
In the above embodiment, the automatic driving device 1 performs the depression operation of the accelerator pedal, the brake pedal, and the clutch pedal, and the position switching operation of the shift lever, but is not limited thereto. Some of these operations may be performed according to the type of the object, i.e., the vehicle (e.g., AT vehicle, MT vehicle).
The automatic driving device 1 can switch the state of the vehicle to a predetermined test mode by operating 1 or more actuators 12 connected to the control device 11 in a predetermined sequence, and operating the pedals, various buttons, and the like of the vehicle in a predetermined sequence. The test mode is, for example, an OFF state of an abnormality determination function, an OFF state of a collision avoidance function, a release of a speed limiter, and the like, which are provided in the vehicle, and the operation for switching the vehicle to the test mode varies depending on the manufacturer and the vehicle type. At this time, the control unit 113 may store 1 or more operation sequences of each actuator 12 for switching the vehicle to the test mode. The control unit 113 can control the respective actuators 12 in time sequence by receiving a predetermined input from the operator, and switch the vehicle to the test mode.
The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention.
Claims (5)
1. An automatic driving apparatus for automatically driving a vehicle or a part thereof, that is, a subject, by using a plurality of actuators, the automatic driving apparatus comprising:
A plurality of actuator connectors connected to a plurality of actuators for performing operations of at least a start switch, a shift switch, or an air conditioner switch provided in the subject; and
A control device for controlling the operation of the actuator connected to the actuator connector,
The plurality of actuator connectors are identical in shape to each other, and the plurality of actuators have connection terminals which can be connected to any one of the plurality of actuator connectors and are identical in shape to each other,
The plurality of actuators each have an identifier corresponding to a category,
The control device includes:
A storage unit that stores identification information that associates the identifier with the type of the actuator; and
A recognition unit configured to read an identifier of an actuator connected to the actuator connector and to recognize a type of the connected actuator from among the plurality of actuators by referring to the identifier and the identification information when the actuator is connected to any one of the plurality of actuator connectors,
The number of types of actuators associated with the identification information stored in the storage unit is greater than the number of connectors for actuators.
2. The automatic driving apparatus according to claim 1, wherein the storage portion stores at least one piece of identification information for an operation of starting, an operation of a push-button shift, an operation of a paddle shift, and an operation of an air conditioner.
3. The automated driving apparatus according to claim 1, wherein the plurality of actuator connectors are positioned in front of the control device when the automated driving apparatus is disposed on a driver's seat of the subject.
4. A vehicle testing system, comprising:
the autopilot device of claim 1;
A dynamometer for giving a load to the subject automatically driven by the automatic driving device; and
An exhaust gas analysis device that analyzes exhaust gas discharged from the subject.
5. A method for identifying the type of an actuator connected to a connector for an actuator in an automatic driving device for automatically driving a vehicle or a part thereof, that is, a subject, by using a plurality of actuators,
The automatic driving device includes:
A plurality of actuator connectors connected to a plurality of actuators for performing operations of at least a start switch, a shift switch, or an air conditioner switch provided in the subject; and
A control device for controlling the operation of the actuator connected to the actuator connector,
The plurality of actuator connectors are identical in shape to each other, and the plurality of actuators have connection terminals which can be connected to any one of the plurality of actuator connectors and are identical in shape to each other,
The plurality of actuators each have an identifier corresponding to a category,
The identification method is characterized in that,
Storing identification information associating the identifier with the type of actuator,
By connecting the actuator to any one of the plurality of actuator connectors, reading an identifier of the actuator connected to the actuator connector, referring to the identifier and the identification information, thereby identifying the type of the connected actuator from among the plurality of actuators,
The number of types of the actuators associated with the stored identification information is greater than the number of connectors for the actuators.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-091716 | 2019-05-14 | ||
| JP2019091716A JP7136744B2 (en) | 2019-05-14 | 2019-05-14 | self-driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111947935A CN111947935A (en) | 2020-11-17 |
| CN111947935B true CN111947935B (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010381749.0A Active CN111947935B (en) | 2019-05-14 | 2020-05-08 | Automatic driving device, vehicle testing system and identification method |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US11495063B2 (en) |
| EP (1) | EP3738827B1 (en) |
| JP (1) | JP7136744B2 (en) |
| CN (1) | CN111947935B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7385595B2 (en) * | 2018-11-28 | 2023-11-22 | 株式会社堀場製作所 | Vehicle testing system and vehicle testing method |
| JP6780806B1 (en) * | 2019-03-25 | 2020-11-04 | 株式会社明電舎 | Support structure of automatic vehicle driving device |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP7136744B2 (en) | 2022-09-13 |
| US20200364956A1 (en) | 2020-11-19 |
| JP2020187004A (en) | 2020-11-19 |
| CN111947935A (en) | 2020-11-17 |
| EP3738827B1 (en) | 2023-09-20 |
| EP3738827A1 (en) | 2020-11-18 |
| US11495063B2 (en) | 2022-11-08 |
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